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Achieving a Desired Collective Centroid by a Formation of Agents Moving in a Controllable Force Field

Jain, Anoop and Ghose, Debasish and Menon, Prathyush P (2016) Achieving a Desired Collective Centroid by a Formation of Agents Moving in a Controllable Force Field. In: 2nd Indian Control Conference (ICC), JAN 04-06, 2016, Indian Inst Technol, Hyderabad, INDIA, pp. 182-187.

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Official URL: http://dx.doi.org/10.1109/INDIANCC.2016.7441126

Abstract

In this paper, we study the problem of a formation of agents trying to achieve a desired stationary or moving collective centroid. The agents are assumed to be moving in a force field which is controlled externally. The stabilization of the collective centroid to a fixed desired location results in a balanced formation of the agents about that point. Similarly, the centroid of the system of agents may be required to move along a certain given trajectory. For this, the centroid of the formation must converge to the desired trajectory. To solve this problem, we propose an all-to-all coupled planar motion model that explicitly incorporates an additional control pertaining to the external force field. Simulation results are presented to support the theoretical findings.

Item Type: Conference Proceedings
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Additional Information: Copy right for this article belongs to the IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 22 Oct 2016 09:32
Last Modified: 22 Oct 2016 09:32
URI: http://eprints.iisc.ernet.in/id/eprint/55043

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